From 2acf49278129e5870d8b775519a2bc1461294fb8 Mon Sep 17 00:00:00 2001
From: zhaowenyu <35589726@qq.com>
Date: Wed, 11 Mar 2026 08:55:46 +0800
Subject: [PATCH] Merge remote-tracking branch 'origin/dev' into dev
---
ard-work/src/main/java/com/ard/work/service/control/UavControlService.java | 81 ++++++++++++++++++++++++++++++----------
1 files changed, 60 insertions(+), 21 deletions(-)
diff --git a/ard-work/src/main/java/com/ard/work/service/control/UavControlService.java b/ard-work/src/main/java/com/ard/work/service/control/UavControlService.java
index 3014fe2..df7efa9 100644
--- a/ard-work/src/main/java/com/ard/work/service/control/UavControlService.java
+++ b/ard-work/src/main/java/com/ard/work/service/control/UavControlService.java
@@ -10,6 +10,7 @@
import javax.annotation.Resource;
import java.util.HashMap;
import java.util.Map;
+import java.util.Set;
import java.util.concurrent.ConcurrentHashMap;
/**
@@ -25,17 +26,26 @@
@Resource
private ISysUserService sysUserService;
- /** 当前飞行控制权限用户 */
+ /**
+ * 当前飞行控制权限用户
+ */
private final ConcurrentHashMap<String, Long> uavFlyControlMap = new ConcurrentHashMap<>();
- /** 当前载荷控制权限用户 */
+ /**
+ * 当前载荷控制权限用户
+ */
private final ConcurrentHashMap<String, Long> uavPayloadControlMap = new ConcurrentHashMap<>();
- /** 飞行控制请求 */
- private final ConcurrentHashMap<String, Long> flyControlRequests = new ConcurrentHashMap<>();
+ /**
+ * 飞行控制请求：boxSn -> 多个请求者
+ */
+ private final ConcurrentHashMap<String, Set<Long>> flyControlRequests = new ConcurrentHashMap<>();
- /** 载荷控制请求 */
- private final ConcurrentHashMap<String, Long> payloadControlRequests = new ConcurrentHashMap<>();
+ /**
+ * 载荷控制请求
+ */
+ private final ConcurrentHashMap<String, Set<Long>> payloadControlRequests = new ConcurrentHashMap<>();
+
/**
* 请求获取 UAV 控制权限
@@ -49,9 +59,13 @@
/**
* 处理单个控制类型的请求
*/
+ /**
+ * 处理单个控制类型的请求（支持多请求者）
+ */
private boolean requestSingleControl(String boxSn, UavControlType controlType, Long requester) {
+
ConcurrentHashMap<String, Long> controlMap = getControlMap(controlType);
- ConcurrentHashMap<String, Long> requestMap = getRequestMap(controlType);
+ ConcurrentHashMap<String, Set<Long>> requestMap = getRequestMap(controlType);
Long controller = controlMap.get(boxSn);
@@ -76,49 +90,73 @@
// 通知原控制者被抢占
uavControlManager.sendControlTakeover(controller, requester, boxSn, controlType.getType());
-
- // 通知新控制者获得控制
- uavControlManager.sendControlApproval(requester, boxSn, controlType.getType(), requester);
return true;
}
- // 优先级相同或更低 → 申请流程
- requestMap.put(boxSn, requester);
+ // ===== 以下是关键改动点 =====
+
+ // 优先级相同或更低 → 加入请求集合（不覆盖）
+ Set<Long> requesters = requestMap.computeIfAbsent(boxSn, k -> ConcurrentHashMap.newKeySet());
+ requesters.add(requester);
+
+ // 通知当前控制者：有新的请求者
uavControlManager.sendControlRequest(controller, boxSn, controlType.getType(), requester);
+
return false;
}
+
/**
* 处理 UAV 控制请求的响应
*/
- public boolean handleControlResponse(String boxSn, boolean approve, String type) {
+ public boolean handleControlResponse(String boxSn, boolean approve, String type, Long requester) {
UavControlType controlType = UavControlType.fromString(type);
Long controller = SecurityUtils.getUserId();
- return handleSingleControlResponse(boxSn, approve, controlType, controller);
+ return handleSingleControlResponse(boxSn, approve, controlType, controller, requester);
}
+
/**
* 处理单个控制类型请求响应
*/
- private boolean handleSingleControlResponse(String boxSn, boolean approve, UavControlType controlType,
- Long controller) {
- ConcurrentHashMap<String, Long> requestMap = getRequestMap(controlType);
- Long requester = requestMap.get(boxSn);
+ private boolean handleSingleControlResponse(String boxSn,
+ boolean approve,
+ UavControlType controlType,
+ Long controller,
+ Long requester) {
- if (requester == null || requester.equals(controller)) {
+ ConcurrentHashMap<String, Set<Long>> requestMap = getRequestMap(controlType);
+ Set<Long> requesters = requestMap.get(boxSn);
+
+ if (requesters == null || !requesters.contains(requester)) {
throw new ControlException("无控制请求");
}
if (approve) {
getControlMap(controlType).put(boxSn, requester);
+
+ // 通知被批准者
uavControlManager.sendControlApproval(requester, boxSn, controlType.getType(), controller);
+
+ // 🚨 其他请求者自动拒绝（强烈建议）
+ for (Long other : requesters) {
+ if (!other.equals(requester)) {
+ requesters.remove(other);
+ uavControlManager.sendControlRejection(other, boxSn, controlType.getType(), controller);
+ }
+ }
} else {
uavControlManager.sendControlRejection(requester, boxSn, controlType.getType(), controller);
}
- requestMap.remove(boxSn);
+ requesters.remove(requester);
+ if (requesters.isEmpty()) {
+ requestMap.remove(boxSn);
+ }
+
return true;
}
+
/**
* 释放 UAV 控制权限
@@ -184,7 +222,7 @@
/**
* 根据控制类型获取对应请求 Map
*/
- private ConcurrentHashMap<String, Long> getRequestMap(UavControlType controlType) {
+ private ConcurrentHashMap<String, Set<Long>> getRequestMap(UavControlType controlType) {
switch (controlType) {
case FLY:
return flyControlRequests;
@@ -195,6 +233,7 @@
}
}
+
/**
* 获取用户优先级
*/
--
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